Multi-agent system fault-tolerant cooperative control based on finite time observer

For the leader-follower consistency problem for multi-agent system with externally perturbed and actuator faults. Firstly, it designs a finite-time observer for fast evaluation and comparison of external perturbation as well as bias fault presence within the follower. Secondly, an adaptive sliding mode fault tolerant controller is proposed, which effectively increases the response speed and tracing accuracy in system and achieves the system fault tolerant consistency when the system is stored with actuator fault and external perturbation. Meanwhile, the proposed consistent control tracking algorithm is analytically proved to be stable using Lyapunov theory. Finally, the availability of the method is proven by simulation analysis.